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ardupilot/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
Andy Piper e3a88f686d AP_RCTelemetry: Spektrum telemetry library and telemetry abstraction 
add support for temperature, battery voltage, battery current, flight pack
altitiude, airspeed, attitude and compass, GPS, ESC telemetry based on BLHeli
status messages and QOS packets.
refactor into AP_Telemetry
conditionally compile based on HAL_MINIMIZE_FEATURES
don't initialize spektrum telemetry if there is no RC uart
2020-05-05 09:23:15 +10:00

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Spektrum Telemetry library, based on AP_Frsky_Telem.cpp
See https://www.spektrumrc.com/ProdInfo/Files/SPM_Telemetry_Developers_Specs.pdf
*/
#include "AP_Spektrum_Telem.h"
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_RPM/AP_RPM.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Common/AP_FWVersion.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Common/Location.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_GPS/AP_GPS.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_RTC/AP_RTC.h>
#ifdef HAVE_AP_BLHELI_SUPPORT
#include <AP_BLheli/AP_BLHeli.h>
#endif
#include <math.h>
#if HAL_SPEKTRUM_TELEM_ENABLED
#define MICROSEC_PER_MINUTE 60000000
#define MAX_TEXTGEN_LEN 13
//#define SPKT_DEBUG
#ifdef SPKT_DEBUG
# define debug(fmt, args...) hal.console->printf("SPKT:" fmt "\n", ##args)
#else
# define debug(fmt, args...) do {} while(0)
#endif
extern const AP_HAL::HAL& hal;
AP_Spektrum_Telem *AP_Spektrum_Telem::singleton;
AP_Spektrum_Telem::AP_Spektrum_Telem() : AP_RCTelemetry(0)
{
singleton = this;
}
AP_Spektrum_Telem::~AP_Spektrum_Telem(void)
{
singleton = nullptr;
}
bool AP_Spektrum_Telem::init(void)
{
// sanity check that we are using a UART for RC input
if (!AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_RCIN, 0)) {
return false;
}
return AP_RCTelemetry::init();
}
/*
setup ready for passthrough telem
*/
void AP_Spektrum_Telem::setup_wfq_scheduler(void)
{
// initialize packet weights for the WFQ scheduler
// priority[i] = 1/_scheduler.packet_weight[i]
// rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
// Spektrum telemetry rate is 46Hz, so these rates must fit
add_scheduler_entry(50, 100); // qos 10Hz
add_scheduler_entry(50, 100); // rpm 10Hz
add_scheduler_entry(50, 100); // text, 10Hz
add_scheduler_entry(50, 120); // Attitude and compass 8Hz
add_scheduler_entry(550, 280); // GPS 3Hz
add_scheduler_entry(550, 280); // ESC 3Hz
add_scheduler_entry(400, 250); // altitude 4Hz
add_scheduler_entry(400, 250); // airspeed 4Hz
add_scheduler_entry(700, 500); // GPS status 2Hz
add_scheduler_entry(1300, 500); // batt volt 2Hz
add_scheduler_entry(1300, 500); // batt curr 2Hz
add_scheduler_entry(1300, 500); // batt mah 2Hz
add_scheduler_entry(1300, 500); // temp 2Hz
}
void AP_Spektrum_Telem::adjust_packet_weight(bool queue_empty)
{
if (!queue_empty) {
_scheduler.packet_weight[TEXT] = 50; // messages
} else {
_scheduler.packet_weight[TEXT] = 5000; // messages
}
}
// WFQ scheduler
bool AP_Spektrum_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
{
bool packet_ready = false;
switch (idx) {
case TEXT:
packet_ready = !queue_empty;
break;
default:
packet_ready = true;
break;
}
return packet_ready;
}
// WFQ scheduler
void AP_Spektrum_Telem::process_packet(uint8_t idx)
{
// send packet
switch (idx) {
case QOS: // QOS
calc_qos();
break;
case RPM: // RPM
calc_rpm();
break;
case TEXT: // status text
if (repeat_msg_chunk() || get_next_msg_chunk()) {
send_msg_chunk(_msg_chunk);
}
break;
case ATTITUDE: // Attitude and compass
calc_attandmag();
break;
case GPS_LOC: // GPS location
calc_gps_location();
break;
case ESC: // ESC
calc_esc();
break;
case ALTITUDE: // altitude
calc_altitude();
break;
case AIRSPEED: // airspeed
calc_airspeed();
break;
case GPS_STATUS: // GPS status
calc_gps_status();
break;
case VOLTAGE: // Battery volts
calc_batt_volts(0);
break;
case AMPS: // Battery current
calc_batt_amps(0);
break;
case MAH: // Battery current & mah
calc_batt_mah();
break;
case TEMP: // temperature
calc_temperature(0);
break;
default:
break;
}
}
// whether to repeat the last texgen output
bool AP_Spektrum_Telem::repeat_msg_chunk(void)
{
if (_msg_chunk.repeats == 0) {
return false;
}
// repeat each message chunk 3 times to ensure transmission
// on slow links reduce the number of duplicate chunks
uint8_t extra_chunks = 2;
if (_scheduler.avg_packet_rate < 20) {
extra_chunks = 0;
} else if (_scheduler.avg_packet_rate < 30) {
extra_chunks = 1;
}
if (_msg_chunk.repeats++ > extra_chunks) {
_msg_chunk.repeats = 0;
return false;
}
return true;
}
// grabs one "chunk" (13 bytes) of the queued message to be transmitted
bool AP_Spektrum_Telem::get_next_msg_chunk(void)
{
_msg_chunk.repeats++;
if (!_statustext.available) {
WITH_SEMAPHORE(_statustext.sem);
if (!_statustext.queue.pop(_statustext.next)) {
return false;
}
_statustext.available = true;
// We're going to display a new message so first clear the screen
_msg_chunk.linenumber = 0xFF;
_msg_chunk.char_index = 0;
return true;
}
uint8_t character = 0;
memset(_msg_chunk.chunk, 0, MAX_TEXTGEN_LEN);
const uint8_t message_len = sizeof(_statustext.next.text);
// the message fits in an entire line of text
if (message_len < MAX_TEXTGEN_LEN) {
memcpy(_msg_chunk.chunk, _statustext.next.text, message_len);
_msg_chunk.linenumber = 0;
_statustext.available = false;
return true;
}
// a following part of multi-line text
if (_msg_chunk.linenumber == 0xFF) {
_msg_chunk.linenumber = 0;
} else if (_msg_chunk.char_index > 0) {
_msg_chunk.linenumber++;
}
// skip leading whitespace
while (_statustext.next.text[_msg_chunk.char_index] == ' ' && _msg_chunk.char_index < message_len) {
_msg_chunk.char_index++;
}
uint8_t space_idx = 0;
const uint8_t begin_idx = _msg_chunk.char_index;
// can't fit it all on one line so wrap at an appropriate place
for (int i = 0; i < MAX_TEXTGEN_LEN && _msg_chunk.char_index < message_len; i++) {
character = _statustext.next.text[_msg_chunk.char_index++];
// split at the first ':'
if (character == ':') {
_msg_chunk.chunk[i] = 0;
break;
}
// record the last space if we need to go back there
if (character == ' ') {
space_idx = _msg_chunk.char_index;
}
_msg_chunk.chunk[i] = character;
if (!character) {
break;
}
}
// still not done, can we break at a word boundary?
if (character != 0 && _msg_chunk.char_index < message_len && space_idx > 0) {
_msg_chunk.char_index = space_idx;
_msg_chunk.chunk[space_idx - begin_idx - 1] = 0;
}
// we've reached the end of the message (string terminated by '\0' or last character of the string has been processed)
if (character == 0 || _msg_chunk.char_index == message_len) {
_msg_chunk.char_index = 0; // reset index to get ready to process the next message
_statustext.available = false;
}
return true;
}
// prepare qos data - mandatory frame that must be sent periodically
void AP_Spektrum_Telem::calc_qos()
{
_telem.qos.identifier = TELE_DEVICE_QOS;
_telem.qos.sID = 0;
_telem.qos.A = 0xFFFF;
_telem.qos.B = 0xFFFF;
_telem.qos.L = 0xFFFF;
_telem.qos.R = 0xFFFF;
_telem.qos.F = 0xFFFF;
_telem.qos.H = 0xFFFF;
_telem.qos.rxVoltage = 0xFFFF;
_telem_pending = true;
}
// prepare rpm data - B/E mandatory frame that must be sent periodically
void AP_Spektrum_Telem::calc_rpm()
{
const AP_BattMonitor &_battery = AP::battery();
_telem.rpm.identifier = TELE_DEVICE_RPM;
_telem.rpm.sID = 0;
// battery voltage in centivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
_telem.rpm.volts = htobe16(((uint16_t)roundf(_battery.voltage(0) * 100.0f)));
_telem.rpm.temperature = htobe16(int16_t(roundf(32.0f + AP::baro().get_temperature(0) * 9.0f / 5.0f)));
const AP_RPM *rpm = AP::rpm();
float rpm_value;
if (!rpm || !rpm->get_rpm(0, rpm_value) || rpm_value < 999.0f) {
rpm_value = 999.0f;
}
_telem.rpm.microseconds = htobe16(uint16_t(roundf(MICROSEC_PER_MINUTE / rpm_value)));
_telem.rpm.dBm_A = 0x7F;
_telem.rpm.dBm_B = 0x7F;
_telem_pending = true;
}
void AP_Spektrum_Telem::send_msg_chunk(const MessageChunk& chunk)
{
memcpy(_telem.textgen.text, chunk.chunk, 13);
_telem.textgen.identifier = TELE_DEVICE_TEXTGEN;
_telem.textgen.lineNumber = chunk.linenumber;
_telem.textgen.sID = 0;
_telem_pending = true;
}
// prepare battery data - B/E but not supported by Spektrum
void AP_Spektrum_Telem::calc_batt_volts(uint8_t instance)
{
const AP_BattMonitor &_battery = AP::battery();
// battery voltage in centivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
_telem.hv.volts = htobe16(uint16_t(roundf(_battery.voltage(instance) * 100.0f)));
_telem.hv.identifier = TELE_DEVICE_VOLTAGE;
_telem.hv.sID = 0;
_telem_pending = true;
}
// prepare battery data - B/E but not supported by Spektrum
void AP_Spektrum_Telem::calc_batt_amps(uint8_t instance)
{
const AP_BattMonitor &_battery = AP::battery();
float current;
if (!_battery.current_amps(current, instance)) {
current = 0;
}
// Range: +/- 150A Resolution: 300A / 2048 = 0.196791 A/count
_telem.amps.current = htobe16(int16_t(roundf(current * 2048.0f / 300.0f)));
_telem.amps.identifier = TELE_DEVICE_AMPS;
_telem.amps.sID = 0;
_telem_pending = true;
}
// prepare battery data - L/E
void AP_Spektrum_Telem::calc_batt_mah()
{
const AP_BattMonitor &_battery = AP::battery();
_telem.fpMAH.identifier = TELE_DEVICE_FP_MAH;
_telem.fpMAH.sID = 0;
float current;
if (!_battery.current_amps(current, 0)) {
current = 0;
}
_telem.fpMAH.current_A = int16_t(roundf(current * 10.0f)); // Instantaneous current, 0.1A (0-3276.6A)
float used_mah;
if (!_battery.consumed_mah(used_mah, 0)) {
used_mah = 0;
}
_telem.fpMAH.chargeUsed_A = int16_t(roundf(used_mah)); // Integrated mAh used, 1mAh (0-32.766Ah)
float temp;
if (_battery.get_temperature(temp, 0)) {
_telem.fpMAH.temp_A = uint16_t(roundf(temp * 10.0f)); // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
} else {
_telem.fpMAH.temp_A = 0x7FFF;
}
if (!_battery.current_amps(current, 1)) {
current = 0;
}
_telem.fpMAH.current_B = int16_t(roundf(current * 10.0f)); // Instantaneous current, 0.1A (0-3276.6A)
if (!_battery.consumed_mah(used_mah, 1)) {
used_mah = 0;
}
_telem.fpMAH.chargeUsed_B = int16_t(roundf(used_mah)); // Integrated mAh used, 1mAh (0-32.766Ah)
if (_battery.get_temperature(temp, 1)) {
_telem.fpMAH.temp_B = uint16_t(roundf(temp * 10.0f)); // Temperature, 0.1C (0-150C, 0x7FFF indicates not populated)
} else {
_telem.fpMAH.temp_B = 0x7FFF;
}
_telem_pending = true;
}
// prepare temperature data - B/E but not supported by Spektrum
void AP_Spektrum_Telem::calc_temperature(uint8_t instance)
{
_telem.temp.temperature = htobe16(int16_t(roundf(32.0f + AP::baro().get_temperature(instance) * 9.0f / 5.0f)));
_telem.temp.identifier = TELE_DEVICE_TEMPERATURE;
_telem.temp.sID = 0;
_telem_pending = true;
}
// prepare altitude data - B/E
void AP_Spektrum_Telem::calc_altitude()
{
_telem.alt.identifier = TELE_DEVICE_ALTITUDE;
_telem.alt.sID = 0;
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
float alt = 0;
ahrs.get_relative_position_D_home(alt);
alt = roundf(-alt * 10.0f);
_telem.alt.altitude = htobe16(uint16_t(alt)); // .1m increments
_max_alt = MAX(alt, _max_alt);
_telem.alt.maxAltitude = htobe16(uint16_t(_max_alt)); // .1m increments
_telem_pending = true;
}
// prepare airspeed data - B/E
void AP_Spektrum_Telem::calc_airspeed()
{
_telem.speed.identifier = TELE_DEVICE_AIRSPEED;
_telem.speed.sID = 0;
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
const AP_Airspeed *airspeed = ahrs.get_airspeed();
float speed = 0.0f;
if (airspeed && airspeed->healthy()) {
speed = roundf(airspeed->get_airspeed() * 3.6);
} else {
speed = roundf(AP::ahrs().groundspeed() * 3.6);
}
_telem.speed.airspeed = htobe16(uint16_t(speed)); // 1 km/h increments
_max_speed = MAX(speed, _max_speed);
_telem.speed.maxAirspeed = htobe16(uint16_t(_max_speed)); // 1 km/h increments
_telem_pending = true;
}
// prepare attitude and compass data - L/E
void AP_Spektrum_Telem::calc_attandmag(void)
{
_telem.attMag.identifier = TELE_DEVICE_ATTMAG;
_telem.attMag.sID = 0;
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
// Attitude, 3 axes. Roll is a rotation about the X Axis of the vehicle using the RHR.
// Units are 0.1 deg - Pitch is a rotation about the Y Axis of the vehicle using the RHR.
// Yaw is a rotation about the Z Axis of the vehicle using the RHR.
_telem.attMag.attRoll = _ahrs.roll_sensor / 10;
_telem.attMag.attPitch = _ahrs.pitch_sensor / 10;
_telem.attMag.attYaw = _ahrs.yaw_sensor / 10;
_telem.attMag.heading = (_ahrs.yaw_sensor / 10) % 3600; // Heading, 0.1deg
const Vector3f& field = AP::compass().get_field();
_telem.attMag.magX = int16_t(roundf(field.x * 10.0f)); // Units are 0.1mG
_telem.attMag.magY = int16_t(roundf(field.y * 10.0f));
_telem.attMag.magZ = int16_t(roundf(field.z * 10.0f));
_telem_pending = true;
}
// prepare gps location - L/E
void AP_Spektrum_Telem::calc_gps_location()
{
const Location &loc = AP::gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
const uint32_t u1e8 = 100000000, u1e7 = 10000000, u1e6 = 1000000, u1e5 = 100000, u1e4 = 10000;
_telem.gpsloc.identifier = TELE_DEVICE_GPS_LOC; // Source device = 0x16
_telem.gpsloc.sID = 0; // Secondary ID
uint32_t alt = (abs(loc.alt) / 10) % u1e6;
_telem.gpsloc.altitudeLow = ((alt % u1e4 / 1000) << 12) | ((alt % 1000 / 100) << 8)
| ((alt % 100 / 10) << 4) | (alt % 100); // BCD, meters, format 3.1 (Low order of altitude)
const float lat = fabsf(loc.lat / 1.0e7f); // BCD, format 4.4, Degrees * 100 + minutes, less than 100 degrees
const float lng = fabsf(loc.lng / 1.0e7f); // BCD, format 4.4 , Degrees * 100 + minutes, flag indicates > 99 degrees
const uint32_t ulat = roundf((int32_t(lat) * 100.0f + (lat - int32_t(lat)) * 60.0f) * 10000.0f);
const uint32_t ulng = roundf((int32_t(lng) * 100.0f + (lng - int32_t(lng)) * 60.0f) * 10000.0f);
_telem.gpsloc.latitude = ((ulat % u1e8 / u1e7) << 28) | ((ulat % u1e7 / u1e6) << 24) | ((ulat % u1e6 / u1e5) << 20) | ((ulat % u1e5 / u1e4) << 16)
| ((ulat % u1e4 / 1000) << 12) | ((ulat % 1000 / 100) << 8) | ((ulat % 100 / 10) << 4) | (ulat % 10);
_telem.gpsloc.longitude = ((ulng % u1e8 / u1e7) << 28) | ((ulng % u1e7 / u1e6) << 24) | ((ulng % u1e6 / u1e5) << 20) | ((ulng % u1e5 / u1e4) << 16)
| ((ulng % u1e4 / 1000) << 12) | ((ulng % 1000 / 100) << 8) | ((ulng % 100 / 10) << 4) | (ulng % 10);
uint16_t course = uint16_t(roundf(AP::gps().ground_course() * 10.0f));
_telem.gpsloc.course = ((course % u1e5 / u1e4) << 12) | ((course % u1e4 / 1000) << 8) | ((course % 1000 / 100) << 4) | (course % 100 / 10); // BCD, 3.1
uint16_t hdop = AP::gps().get_hdop(0);
_telem.gpsloc.HDOP = ((hdop % 1000 / 100) << 4) | (hdop % 100 / 10); // BCD, format 1.1
_telem.gpsloc.GPSflags = 0;
if (AP::gps().status(0) >= AP_GPS::GPS_OK_FIX_3D) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_3D_FIX;
}
if (loc.alt < 0) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_NEGATIVE_ALT;
}
if ((loc.lng / 1e7) > 99) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_LONGITUDE_GREATER_99;
}
if (loc.lat >= 0) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_IS_NORTH;
}
if (loc.lng >= 0) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_IS_EAST;
}
if (AP::gps().status(0) > AP_GPS::NO_FIX) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_GPS_FIX_VALID;
}
if (AP::gps().status(0) >= AP_GPS::NO_FIX) {
_telem.gpsloc.GPSflags |= GPS_INFO_FLAGS_GPS_DATA_RECEIVED;
}
_telem_pending = true;
}
// prepare gps status - L/E
void AP_Spektrum_Telem::calc_gps_status()
{
const Location &loc = AP::gps().location(0);
_telem.gpsstat.identifier = TELE_DEVICE_GPS_STATS; // Source device = 0x17
_telem.gpsstat.sID = 0; // Secondary ID
uint16_t knots = roundf(AP::gps().ground_speed() * 1.94384f * 10.0f);
_telem.gpsstat.speed = ((knots % 10000 / 1000) << 12) | ((knots % 1000 / 100) << 8) | ((knots % 100 / 10) << 4) | (knots % 10); // BCD, knots, format 3.1
uint16_t ms;
uint8_t h, m, s;
AP::rtc().get_system_clock_utc(h, m, s, ms); // BCD, format HH:MM:SS.S, format 6.1
_telem.gpsstat.UTC = ((((h / 10) << 4) | (h % 10)) << 20) | ((((m / 10) << 4) | (m % 10)) << 12) | ((((s / 10) << 4) | (s % 10)) << 4) | (ms / 100) ;
uint8_t nsats = AP::gps().num_sats();
_telem.gpsstat.numSats = ((nsats / 10) << 4) | (nsats % 10); // BCD, 0-99
uint32_t alt = (abs(loc.alt) / 100000);
_telem.gpsstat.altitudeHigh = ((alt / 10) << 4) | (alt % 10); // BCD, meters, format 2.0 (High order of altitude)
_telem_pending = true;
}
// prepare ESC information - B/E
void AP_Spektrum_Telem::calc_esc()
{
#ifdef HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
if (blh == nullptr) {
return;
}
AP_BLHeli::telem_data td;
if (!blh->get_telem_data(0, td)) {
return;
}
_telem.esc.identifier = TELE_DEVICE_ESC; // Source device = 0x20
_telem.esc.sID = 0; // Secondary ID
_telem.esc.RPM = htobe16(uint16_t(roundf(blh->get_average_motor_frequency_hz() * 60))); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data"
_telem.esc.voltsInput = htobe16(td.voltage); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data"
_telem.esc.tempFET = htobe16(td.temperature * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentMotor = htobe16(td.current); // Current, 10mA (0-655.34A) 0xFFFF --> "No data"
_telem.esc.tempBEC = 0xFFFF; // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentBEC = 0xFF; // BEC Current, 100mA (0-25.4A) 0xFF ----> "No data"
_telem.esc.voltsBEC = 0xFF; // BEC Volts, 0.05V (0-12.70V) 0xFF ----> "No data"
_telem.esc.throttle = 0xFF; // 0.5% (0-100%) 0xFF ----> "No data"
_telem.esc.powerOut = 0xFF; // Power Output, 0.5% (0-127%) 0xFF ----> "No data"
_telem_pending = true;
#endif
}
/*
fetch Spektrum data for an external transport, such as SRXL2
*/
bool AP_Spektrum_Telem::_get_telem_data(uint8_t* data)
{
memset(&_telem, 0, 16);
run_wfq_scheduler();
if (!_telem_pending) {
return false;
}
memcpy(data, &_telem, 16);
_telem_pending = false;
return true;
}
/*
fetch data for an external transport, such as SRXL2
*/
bool AP_Spektrum_Telem::get_telem_data(uint8_t* data)
{
if (!singleton && !hal.util->get_soft_armed()) {
// if telem data is requested when we are disarmed and don't
// yet have a AP_Spektrum_Telem object then try to allocate one
new AP_Spektrum_Telem();
// initialize the passthrough scheduler
if (singleton) {
singleton->init();
}
}
if (!singleton) {
return false;
}
return singleton->_get_telem_data(data);
}
namespace AP {
AP_Spektrum_Telem *spektrum_telem() {
return AP_Spektrum_Telem::get_singleton();
}
};
#endif
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